CN104361623A - Portable three-dimensional imaging sonar and imaging method and system thereof - Google Patents
Portable three-dimensional imaging sonar and imaging method and system thereof Download PDFInfo
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- CN104361623A CN104361623A CN201410691462.2A CN201410691462A CN104361623A CN 104361623 A CN104361623 A CN 104361623A CN 201410691462 A CN201410691462 A CN 201410691462A CN 104361623 A CN104361623 A CN 104361623A
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Abstract
The invention belongs to the field of sonar imaging, and provides portable three-dimensional imaging sonar and an imaging method and system thereof. According to the method and system, a shear mapping-deformation technology is applied to the imaging process of the portable three-dimensional imaging sonar. The method comprises the steps that first, an object space is projected into a shear mapping space through shear mapping transformation, an intermediate image is synthetized, the observation direction of the intermediate image is parallel to the Z-axis direction, then the intermediate image is deformed to a preset image space, and a final three-dimensional result image is obtained. By the aid of the intermediate image perpendicular to the Z-axis direction, the re-sampling process of three-dimensional space is converted to be the sampling process of a two-dimensional plane, calculation is greatly reduced, the requirement of the system for hardware performance is lowered, the real-time performance of display can be improved, and the imaging method and system are particularly suitable for the portable three-dimensional imaging sonar.
Description
Technical field
The invention belongs to sonograms field, particularly relate to a kind of Portable three-dimensional imaging sonar and formation method, system.
Background technology
Three-dimensional imaging sonar be a kind of can when object and sonar relative motion, sonar is scanned the equipment that the data that obtain represent with image format, its principle is: the object of different densities, the different velocity of sound under water, to incident acoustic wave, there is the physical influence such as reflection, transmission, scattering in various degree, by analyzing, extracting and show object by the intensity after sound wave effect, positional information, the three-dimensional sonar image of immersed body just can be obtained.
Usually, three-dimensional imaging sonar can comprise signal processor and main control computer two parts.Signal processor for complete three-dimensional sonar data collection, process and upload; Main control computer is used for providing visualization interface, completes 3-D view display.Wherein, the 3-D view display algorithm that main control computer adopts is divided into iso-surface patch and volume drawing.
The principle of iso-surface patch is: first construct middle geometric graphic element by volume data, and then use sort operation by extracting section interested in three-dimensional sonar data fields out and express display in the mode in face, conventional is contour surface.Because iso-surface patch method only pays close attention to interphase, have ignored the details that organization internal is abundant, cannot be formed and the entirety of image is understood.In actual applications, in order to accurate imaging needs the span adjusting contour surface.In addition, iso-surface patch method often loses a large amount of details in the construction process in face, and make the image of generation too smooth, fidelity is poor.
The principle of volume drawing is: do not need to construct middle geometric graphic element, body is regarded as the set of voxel, give certain color and transparency first to each volume elements in three-dimensional sonar data fields, again according to the optical principle of energy concentration during light traverses vitrina, carry out the imaging operation of color formula, thus remain abundant details, relative to iso-surface patch, fidelity greatly improves.
In prior art, volume drawing employing ray cast method is each pixel from the image space preset, a ray is launched by direction of visual lines, this ray is through three-dimensional sonar data fields, sampled point is chosen along directions of rays, afterwards by trilinear interpolation, obtain echo strength value and the opacity value of each sampled point, thus synthesis final image.Because this kind of object plotting method object space is directly projected to the image space preset, if direction of visual lines changes, need to re-start sampling, make operand comparatively large, arithmetic speed is comparatively slow, poor real.And for Portable three-dimensional imaging sonar, due to portable feature, require that level of integrated system is high, physical size is little, need the volume rendering algorithm that calculated amount is little, real-time is good.。
Summary of the invention
The object of the embodiment of the present invention is the formation method providing a kind of Portable three-dimensional imaging sonar, the volume drawing being intended to solve existing three-dimensional imaging sonar adopts ray cast method, the method operand is large, causes that system cost is high, volume large and poor real and be not suitable for the problem of Portable three-dimensional imaging sonar.
The embodiment of the present invention is achieved in that a kind of formation method of Portable three-dimensional imaging sonar, said method comprising the steps of:
The 3 d-dem sonar data of the 3 d-dem sonar data field that Received signal strength processor is uploaded;
Adopt the method for perspective projection, Shear Transform is carried out to described 3 d-dem sonar data, synthetic mesophase image;
Two dimensional image conversion is carried out to described intermediate image, obtains the three-dimensional result image of described 3 d-dem sonar data at the image space preset.
Another object of the embodiment of the present invention is the imaging system providing a kind of Portable three-dimensional imaging sonar, and described system comprises:
Data reception module, for the 3 d-dem sonar data of the 3 d-dem sonar data field that Received signal strength processor is uploaded;
First image processing module, for adopting the method for perspective projection, carries out Shear Transform to described 3 d-dem sonar data, synthetic mesophase image;
Second image processing module, for carrying out two dimensional image conversion to described intermediate image, obtains the three-dimensional result image of described 3 d-dem sonar data at the image space preset.
Another object of the embodiment of the present invention is to provide a kind of Portable three-dimensional imaging sonar, comprises signal processor and main control computer, and described main control computer comprises the imaging system of Portable three-dimensional imaging sonar as above.
The formation method of Portable three-dimensional imaging sonar that the embodiment of the present invention proposes and system be mistake is cut-deformation technology is applied in the volume drawing process of Portable three-dimensional imaging sonar, first by Shear Transform, object space is projected wrong tangent space, synthetic mesophase image, the observed ray of this intermediate image is parallel with Z-direction, again intermediate image is deformed to predetermined image space, obtains final three-dimensional result image.Owing to by means of the intermediate image vertical with z-axis, thus three-dimensional resampling process is converted to the sampling process of two dimensional surface, if original direction of visual lines changes, middle coordinate system can not change.The method and system greatly reduce operand, reduce the requirement of system to hardware performance, and can improve the real-time of display, are particularly suitable for being applied in Portable three-dimensional imaging sonar.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the formation method of the Portable three-dimensional imaging sonar that first embodiment of the invention provides;
Fig. 2 be launching beam and the received beam of T-shape basic matrix superpose schematic diagram;
Fig. 3 is the schematic diagram of received beam in space coordinates of T-shape basic matrix;
Fig. 4 is in first embodiment of the invention, 3 d-dem sonar data field is carried out to the detail flowchart of Shear Transform step;
Fig. 5 is in first embodiment of the invention, utilizes ray cast method to carry out the detail flowchart of the step of Images uniting to the three-dimensional sonar data in 3 d-dem sonar data field;
Fig. 6 is the schematic diagram of the imaging system of the Portable three-dimensional imaging sonar that second embodiment of the invention provides;
Fig. 7 is in Fig. 6, the schematic diagram of the first image processing module;
Fig. 8 is in Fig. 7, and intermediate image obtains the schematic diagram of submodule.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The formation method of Portable three-dimensional imaging sonar that the present invention proposes be mistake is cut-deformation technology is applied in the imaging process of Portable three-dimensional imaging sonar, first object space is projected wrong tangent space by Shear Transform by the method, synthetic mesophase image, the observed ray of this intermediate image is parallel with Z-direction, again intermediate image is deformed to predetermined image space, obtains final three-dimensional result image.
Fig. 1 is the flow process of the formation method of the Portable three-dimensional imaging sonar that first embodiment of the invention provides, and comprises the following steps:
S1: the 3 d-dem sonar data of the 3 d-dem sonar data field that Received signal strength processor is uploaded.
In first embodiment of the invention, the three-dimensional localization that signal processor can adopt face battle array or T-shape basic matrix to realize target.Adopt T-shape basic matrix with signal processor, and T-shape basic matrix adopts Vertical Launch, level is received as example, as shown in Figures 2 and 3.Solid line in Fig. 2 represents a series of Vertical Launch wave beam, and the dotted line in Fig. 2 represents a series of horizontal received beam, and the black circles in Fig. 2 represents target, and the k in Fig. 3 represents the tangent plane ordinal number at echo wave beam place.During work, T-shape basic matrix is to a certain predetermined direction launching beam, afterwards the echo in this direction is analyzed, because received beam has the resolving power of horizontal direction, the position angle of echo under this direction can be obtained by received beam, the target range combining the pitch angle determined by launching beam simultaneously and determined by the wave beam time of receiving and dispatching, just can obtain the information of the position angle of target echo, pitch angle and distance.
In first embodiment of the invention, 3 d-dem sonar data field is the section of echo strength in one group of space different distance, and the 3 d-dem sonar data of same distance is in same section.In section, the 3 d-dem sonar data of each data point at least comprises volume coordinate and the echo strength value of this data point.Suppose that on cutting into slices, the angle of pitch of arbitrary data point P (i, j, k) is Φ, position angle is θ, distance is z, then volume coordinate x (i, the j of this data point, k)=zcos Φ cos θ, y (i, j, k)=zcos Φ sin θ, i is the line number of data point place tangent plane, and j is the columns of data point place tangent plane.
S2: the method adopting perspective projection, carries out Shear Transform to 3 d-dem sonar data, synthetic mesophase image.
Further, as shown in Figure 4, step S2 can comprise the following steps:
S21: selected object space is to the transform matrix M of the image space preset
view, to determine the main direction of observation to 3 d-dem sonar data.
S22: by transformation matrix of coordinates T, makes the z-axis direction of 3 d-dem sonar data field overlap with to the main direction of observation of 3 d-dem sonar data.
S23: the method adopting perspective projection, transforms to wrong tangent space by 3 d-dem sonar data field by object space.
In first embodiment of the invention, by the 3 d-dem sonar data of each section in 3 d-dem sonar data field is all multiplied by Shear Transform matrix K, realize cutting the mistake of section perpendicular on the direction of z-axis.Wherein, Shear Transform matrix K can be expressed as:
Transverse axis transport coefficient k wherein
x, longitudinal axis transport coefficient k
ycan by transform matrix M
viewparameter try to achieve, transformation of scale coefficient k
wmeet:
z
1be the distance of first section, z
nfor the distance cut into slices in the 3 d-dem sonar data place of required conversion.
By Shear Transform matrix K, will apart from being z
nsection on 3 d-dem sonar data along the plane translation (z perpendicular to z-axis
nk
x, z
nk
y) distance, simultaneously according to coefficient 1/ (1+z
nk
w) do transformation of scale.
S24: in wrong tangent space, carries out Images uniting to the three-dimensional sonar data in 3 d-dem sonar data field, obtains intermediate image.
In first embodiment of the invention, ray cast method can be utilized, footprint table method scheduling algorithm realizes Images uniting.For ray cast method, as shown in Figure 5, now, step S24 can comprise the following steps:
S241: in wrong tangent space, according to the size of the echo strength value of each data point, classifies to the three-dimensional sonar data of each data point in 3 d-dem sonar data field, to realize the segmentation of volume data.
S242: the data point for each class gives different opacity values.
S243: according to Ray Tracing, carries out resampling along direction of visual lines, and makes Tri linear interpolation by from the echo strength value of nearest 8 data points of a certain sampled point and opacity value, obtains echo strength value and the opacity value of each sampled point.
S244: according to every bar along the echo strength value of each sampled point on the wire harness of direction of visual lines and opacity value, by after forward direction or by the echo strength value of backward front synthetic mesophase image, and then obtains intermediate image.
Wherein, can be expressed as by the step of the echo strength value of backward front synthetic mesophase image: P
out=P
in(1-α
now)+P
nowα
now; Can be expressed as by the step of the echo strength value of synthetic mesophase image after forward direction: P
out=P
inα
in+ P
nowα
now(1-α
in).Wherein, P
nowbe the echo strength value of m volume elements, P
outfor the echo strength value after m volume elements, P
infor entering the echo strength value of m volume elements, α
nowbe m volume elements opacity value, α
infor entering the opacity value of m volume elements.
In actual applications, for improving Images uniting speed, the first threshold value can be set, then, in step S244, if the opacity of sampled point is less than the first threshold value, then can skip this sampled point.Similarly, for due to the synthesis mode after forward direction, in building-up process, opacity value can progressively increase, when opacity value is tending towards 1, illustrate that the image of the pixel sending this sight line is close to completely opaque, thus the second threshold value can be set, when the opacity value of the pixel after synthesizing is greater than the second threshold value, no longer this pixel be calculated, thus eliminate invalid computation, improve execution speed.
S3: carry out two dimensional image conversion to intermediate image, obtains the three-dimensional result image of 3 d-dem sonar data at the image space preset.
Suppose that wrong tangent space is M to the transformation matrix of the image space preset
warp, then step S3 can be expressed as: M
warp=K
-1t
-1m
view.
Fig. 6 shows the principle of the imaging system of the Portable three-dimensional imaging sonar that second embodiment of the invention provides.
Particularly, the imaging system of this Portable three-dimensional imaging sonar comprises: data reception module 1, for the 3 d-dem sonar data of the 3 d-dem sonar data field that Received signal strength processor is uploaded; First image processing module 2, for adopting the method for perspective projection, carries out Shear Transform to 3 d-dem sonar data, synthetic mesophase image; Second image processing module 3, for carrying out two dimensional image conversion to intermediate image, obtains the three-dimensional result image of 3 d-dem sonar data at the image space preset.
Wherein, to the definition of 3 d-dem sonar data field and 3 d-dem sonar data as in the first embodiment, to the description of the implementation of the second image processing module 3 as in the first embodiment, do not repeat.
Further, as shown in Figure 7, the first image processing module 2 can comprise: selected submodule 21, for the transform matrix M of selected object space to the image space preset
view, to determine the main direction of observation to 3 d-dem sonar data; Coordinate transform submodule 22, for passing through transformation matrix of coordinates T, the z-axis direction of 3 d-dem sonar data field is overlapped with to the main direction of observation of 3 d-dem sonar data, and its detailed process as in the first embodiment, does not repeat; Mistake cuts submodule 23, and for adopting the method for perspective projection, 3 d-dem sonar data field is transformed to wrong tangent space by object space, and its detailed process as in the first embodiment, does not repeat; Intermediate image obtains submodule 24, in wrong tangent space, carries out Images uniting, obtain intermediate image to the three-dimensional sonar data in 3 d-dem sonar data field.
Further, as shown in Figure 8, intermediate image obtains submodule 24 and can comprise: classification submodule 241, for in wrong tangent space, according to the size of the echo strength value of each data point, the three-dimensional sonar data of each data point in 3 d-dem sonar data field are classified, to realize the segmentation of volume data; Assignment submodule 242, for giving different opacity values for the data point of each class; Resampling and interpolation submodule 243, for according to Ray Tracing, carry out resampling along direction of visual lines, and make Tri linear interpolation by from the echo strength value of nearest 8 data points of a certain sampled point and opacity value, obtain echo strength value and the opacity value of each sampled point; Synthon module 244, for according to every bar along the echo strength value of each sampled point on the wire harness of direction of visual lines and opacity value, by after forward direction or by the echo strength value of backward front synthetic mesophase image, and then obtain intermediate image, its detailed process as in the first embodiment, does not repeat.
Third embodiment of the invention provides a kind of Portable three-dimensional imaging sonar, comprises signal processor and main control computer, and this main control computer comprises the imaging system of Portable three-dimensional imaging sonar as described in the second embodiment of the present invention.
In sum, the formation method of Portable three-dimensional imaging sonar that the present invention proposes and system be mistake is cut-deformation technology is applied in the imaging process of Portable three-dimensional imaging sonar, first by wrong blanking method, object space is projected wrong tangent space, synthetic mesophase image, the observed ray of this intermediate image is parallel with Z-direction, again intermediate image is deformed to predetermined image space, obtains final three-dimensional result image.Owing to by means of the intermediate image vertical with z-axis, thus three-dimensional resampling process is converted to the sampling process of two dimensional surface, if original direction of visual lines changes, middle coordinate system can not change.The method and system greatly reduce operand, reduce the requirement of system to hardware performance, and can improve the real-time of display, are particularly suitable for being applied in Portable three-dimensional imaging sonar.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a formation method for Portable three-dimensional imaging sonar, is characterized in that, said method comprising the steps of:
The 3 d-dem sonar data of the 3 d-dem sonar data field that Received signal strength processor is uploaded;
Adopt the method for perspective projection, Shear Transform is carried out to described 3 d-dem sonar data, synthetic mesophase image;
Two dimensional image conversion is carried out to described intermediate image, obtains the three-dimensional result image of described 3 d-dem sonar data at the image space preset.
2. the formation method of Portable three-dimensional imaging sonar as claimed in claim 1, it is characterized in that, the method for described employing perspective projection, carry out Shear Transform to described 3 d-dem sonar data, the step of synthetic mesophase image comprises the following steps:
Select the transformation matrix of object space to the image space preset, to determine the main direction of observation to described 3 d-dem sonar data;
By transformation matrix of coordinates, the z-axis direction of described 3 d-dem sonar data field is overlapped with described main direction of observation;
Adopt the method for perspective projection, described 3 d-dem sonar data field is transformed to wrong tangent space by described object space;
In described wrong tangent space, Images uniting is carried out to the three-dimensional sonar data in described 3 d-dem sonar data field, obtains intermediate image.
3. the formation method of Portable three-dimensional imaging sonar as claimed in claim 2, is characterized in that, the method for described employing perspective projection, the step that described 3 d-dem sonar data field transforms to wrong tangent space by described object space is specially:
The 3 d-dem sonar data of each section in described 3 d-dem sonar data field is all multiplied by Shear Transform matrix K, and described Shear Transform matrix K is expressed as:
Wherein, k
xfor transverse axis transport coefficient k
x, k
yfor longitudinal axis transport coefficient, k
wfor transformation of scale coefficient k
w, and have
z
1be the distance of first section, z
nfor the distance cut into slices in the 3 d-dem sonar data place of required conversion.
4. the formation method of Portable three-dimensional imaging sonar as claimed in claim 3, it is characterized in that, two dimensional image conversion is carried out to described intermediate image, obtains described 3 d-dem sonar data and be expressed as in the step of the three-dimensional result image of the image space preset: M
warp=K
-1t
-1m
view, wherein, M
warpfor described wrong tangent space is to the transformation matrix of the described image space preset, T is described transformation matrix of coordinates, M
viewfor described object space is to the transformation matrix of the image space preset.
5. the formation method of Portable three-dimensional imaging sonar as claimed in claim 2, it is characterized in that, in described wrong tangent space, carry out Images uniting to the three-dimensional sonar data in described 3 d-dem sonar data field, the step obtaining intermediate image comprises the following steps:
In described wrong tangent space, according to the size of the echo strength value of each data point, the three-dimensional sonar data of each data point in described 3 d-dem sonar data field are classified;
Data point for each class gives different opacity values;
According to Ray Tracing, carry out resampling along direction of visual lines, and make Tri linear interpolation by from the echo strength value of nearest 8 data points of a certain sampled point and opacity value, obtain echo strength value and the opacity value of each sampled point;
According to every bar along the echo strength value of each sampled point on the wire harness of direction of visual lines and opacity value, by after forward direction or by the echo strength value of backward front synthetic mesophase image, and then obtain intermediate image.
6. the formation method of Portable three-dimensional imaging sonar as claimed in claim 5, it is characterized in that, the described step by the echo strength value of backward front synthetic mesophase image is expressed as: P
out=P
in(1-α
now)+P
nowα
now, the described step by the echo strength value of synthetic mesophase image after forward direction is expressed as: P
out=P
inα
in+ P
nowα
now(1-α
in), wherein, P
nowbe the echo strength value of m volume elements, P
outfor the echo strength value after described m volume elements, P
infor entering the echo strength value of described m volume elements, α
nowfor described m volume elements opacity value, α
infor entering the opacity value of described m volume elements.
7. an imaging system for Portable three-dimensional imaging sonar, is characterized in that, described system comprises:
Data reception module, for the 3 d-dem sonar data of the 3 d-dem sonar data field that Received signal strength processor is uploaded;
First image processing module, for adopting the method for perspective projection, carries out Shear Transform to described 3 d-dem sonar data, synthetic mesophase image;
Second image processing module, for carrying out two dimensional image conversion to described intermediate image, obtains the three-dimensional result image of described 3 d-dem sonar data at the image space preset.
8. the imaging system of Portable three-dimensional imaging sonar as claimed in claim 7, it is characterized in that, described first image processing module comprises:
Selected submodule, for the transformation matrix of selected object space to the image space preset, to determine the main direction of observation to described 3 d-dem sonar data;
Coordinate transform submodule, for by transformation matrix of coordinates, makes the z-axis direction of described 3 d-dem sonar data field overlap with described main direction of observation;
Mistake cuts submodule, for adopting the method for perspective projection, described 3 d-dem sonar data field is transformed to wrong tangent space by described object space;
Intermediate image obtains submodule, in described wrong tangent space, carries out Images uniting, obtain intermediate image to the three-dimensional sonar data in described 3 d-dem sonar data field.
9. the imaging system of Portable three-dimensional imaging sonar as claimed in claim 8, is characterized in that, described intermediate image obtains submodule and comprises:
Classification submodule, in described wrong tangent space, according to the size of the echo strength value of each data point, classifies to the three-dimensional sonar data of each data point in described 3 d-dem sonar data field;
Assignment submodule, for giving different opacity values for the data point of each class;
Resampling and interpolation submodule, for according to Ray Tracing, carry out resampling along direction of visual lines, and make Tri linear interpolation by from the echo strength value of nearest 8 data points of a certain sampled point and opacity value, obtain echo strength value and the opacity value of each sampled point;
Synthon module, for according to every bar along the echo strength value of each sampled point on the wire harness of direction of visual lines and opacity value, by after forward direction or by the echo strength value of backward front synthetic mesophase image, and then obtain intermediate image.
10. a Portable three-dimensional imaging sonar, comprises signal processor and main control computer, it is characterized in that, described main control computer comprises the imaging system of the Portable three-dimensional imaging sonar as described in claim 7,8 or 9.
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